Optimal Horizon Length (UG)
The length of the horizon plays an important role in the MPC strategy. It is clear that there is a threshold horizon length for which the there is no benefit in further increasing the horizon, as it would not affect the first input. The goal of this project is to propose a strategy to identify this threshold values and to validate it in the the racing scenario both in simulation and experiments.
Prerequisite: Solid control background and programming skills (C, Python, Matlab). Good optimization or machine learning background.